Merge branch 'main' into feature/separate_concatenate_filter_node

.github/sync-files.yaml

@@ -89,7 +89,8 @@
   files:
     - source: .github/workflows/deploy-docs.yaml
     - source: .github/workflows/delete-closed-pr-docs.yaml
-    - source: mkdocs.yaml
+    - source: mkdocs-base.yaml
+      dest: mkdocs.yaml
       pre-commands: |
         sd "Autoware Documentation" "Autoware Universe Documentation" {source}
         sd "autoware-documentation" "autoware.universe" {source}

.github/workflows/json-schema-check.yaml

@@ -0,0 +1,17 @@
+name: json-schema-check
+
+on:
+  pull_request:
+    paths:
+      - "**/schema/*.schema.json"
+      - "**/config/*.param.yaml"
+
+jobs:
+  json-schema-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Run json-schema-check
+        uses: autowarefoundation/autoware-github-actions/json-schema-check@v1

.github/workflows/pre-commit-optional.yaml

@@ -9,8 +9,11 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config-optional.yaml
+          base-branch: origin/${{ github.base_ref }}

.github/workflows/update-codeowners-from-packages.yaml

@@ -27,7 +27,6 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
-          global-codeowners: "@autowarefoundation/autoware-global-codeowners"
           pr-labels: |
             bot
             update-codeowners-from-packages

.markdown-link-check.json

@@ -9,9 +9,6 @@
     },
     {
       "pattern": "^https://github.com/.*/discussions/new"
-    },
-    {
-      "pattern": "^https://doi.org/10.2172/7309916"
     }
   ],
   "retryOn429": true,

.pre-commit-config-optional.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.11.1
+    rev: v3.11.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]

.pre-commit-config.yaml

@@ -78,6 +78,12 @@ repos:
         args: [--quiet]
         exclude: .cu
 
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.23.2
+    hooks:
+      - id: check-metaschema
+        files: ^.+/schema/.*schema\.json$
+
   - repo: local
     hooks:
       - id: prettier-svg

CODE_OF_CONDUCT.md

@@ -60,7 +60,7 @@ representative at an online or offline event.
 
 Instances of abusive, harassing, or otherwise unacceptable behavior may be
 reported to the community leaders responsible for enforcement at
-[email protected].
+<[email protected]>.
 All complaints will be reviewed and investigated promptly and fairly.
 
 All community leaders are obligated to respect the privacy and security of the

common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp

@@ -0,0 +1,53 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/vehicle_kinematics.hpp>
+#include <autoware_adapi_v1_msgs/msg/vehicle_status.hpp>
+#include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
+
+namespace autoware_ad_api::vehicle
+{
+
+struct VehicleKinematics
+{
+  using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
+  static constexpr char name[] = "/api/vehicle/kinematics";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct VehicleStatus
+{
+  using Message = autoware_adapi_v1_msgs::msg::VehicleStatus;
+  static constexpr char name[] = "/api/vehicle/status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct Dimensions
+{
+  using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions;
+  static constexpr char name[] = "/api/vehicle/dimensions";
+};
+
+}  // namespace autoware_ad_api::vehicle
+
+#endif  // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp

@@ -81,14 +81,14 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_default_topic{default_topic}
   {
     m_display_type_property = new rviz_common::properties::EnumProperty(
-      "Polygon Type", "3d", "Type of the polygon to display object.");
+      "Polygon Type", "3d", "Type of the polygon to display object.", this);
     // Option values here must correspond to indices in palette_textures_ array in onInitialize()
     // below.
     m_display_type_property->addOption("3d", 0);
     m_display_type_property->addOption("2d", 1);
     m_display_type_property->addOption("Disable", 2);
     m_simple_visualize_mode_property = new rviz_common::properties::EnumProperty(
-      "Visualization Type", "Normal", "Simplicity of the polygon to display object.");
+      "Visualization Type", "Normal", "Simplicity of the polygon to display object.", this);
     m_simple_visualize_mode_property->addOption("Normal", 0);
     m_simple_visualize_mode_property->addOption("Simple", 1);
     // iterate over default values to create and initialize the properties.

common/autoware_testing/autoware_testing/smoke_test.py

@@ -40,6 +40,19 @@ def resolve_node(context, *args, **kwargs):
         for file_name in shlex.split(LaunchConfiguration("arg_param_filenames").perform(context))
     ]
 
+    parameters_test = [
+        os.path.join(
+            get_package_share_directory(LaunchConfiguration("arg_package").perform(context)),
+            "test",
+            file_name,
+        )
+        for file_name in shlex.split(
+            LaunchConfiguration("arg_test_param_filenames").perform(context)
+        )
+    ]
+
+    parameters.extend(parameters_test)
+
     smoke_test_node = Node(
         package=LaunchConfiguration("arg_package"),
         executable=LaunchConfiguration("arg_package_exe"),
@@ -61,6 +74,11 @@ def generate_test_description():
     arg_param_filenames = DeclareLaunchArgument(
         "arg_param_filenames", default_value=["test.param.yaml"], description="Test param file"
     )
+    arg_test_param_filenames = DeclareLaunchArgument(
+        "arg_test_param_filenames",
+        default_value=["test.param.yaml"],
+        description="Test only param file",
+    )
     arg_executable_arguments = DeclareLaunchArgument(
         "arg_executable_arguments", default_value=[""], description="Tested executable arguments"
     )
@@ -70,6 +88,7 @@ def generate_test_description():
             arg_package,
             arg_package_exe,
             arg_param_filenames,
+            arg_test_param_filenames,
             arg_executable_arguments,
             OpaqueFunction(function=resolve_node),
             launch_testing.actions.ReadyToTest(),
@@ -82,9 +101,15 @@ def test_wait_for_node_ready(self):
         """Waiting for the node is ready."""
         rclpy.init()
         test_node = rclpy.create_node("test_node")
-        while len(test_node.get_node_names()) == 0:
+        # Wait until both dummy node "test_node" and real tested node are registered and then kill
+        # both of them, if tested node does not register within `timeout` seconds test will fail
+        start_time = time.time()
+        timeout = 2  # seconds
+        timeout_msg = "Smoke test timeout has been reached ({}s)".format(timeout)
+        print("waiting for Nodes to be ready")
+        while len(test_node.get_node_names()) < 2:
+            assert time.time() - start_time < timeout, timeout_msg
             time.sleep(0.1)
-            print("waiting for Node to be ready")
         rclpy.shutdown()
 
 

common/autoware_testing/cmake/add_smoke_test.cmake

@@ -25,21 +25,31 @@
 # :type EXECUTABLE_ARGUMENTS: string
 
 function(add_smoke_test package_name executable_name)
-  cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "")
+  cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;TEST_PARAM_FILENAMES;
+EXECUTABLE_ARGUMENTS;TARGET_INFIX" "")
 
   set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}")
 
+  set(TARGET_INFIX "")  # OPTIONAL infix to distinguish multiple smoke tests for one node
+  if(smoke_test_TARGET_INFIX)
+    set(TARGET_INFIX "_${smoke_test_TARGET_INFIX}")
+  endif()
+
   if(smoke_test_PARAM_FILENAMES)
     list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}")
   endif()
 
+  if(smoke_test_TEST_PARAM_FILENAMES)
+    list(APPEND ARGUMENTS "arg_test_param_filenames:=${smoke_test_TEST_PARAM_FILENAMES}")
+  endif()
+
   if(smoke_test_EXECUTABLE_ARGUMENTS)
     list(APPEND ARGUMENTS "arg_executable_arguments:=${smoke_test_EXECUTABLE_ARGUMENTS}")
   endif()
 
   add_ros_test(
     ${autoware_testing_DIR}/../autoware_testing/smoke_test.py
-    TARGET "${executable_name}_smoke_test"
+    TARGET "${executable_name}${TARGET_INFIX}_smoke_test"
     ARGS "${ARGUMENTS}"
     TIMEOUT "30"
   )

common/component_interface_specs/include/component_interface_specs/localization.hpp

@@ -19,6 +19,7 @@
 
 #include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
+#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
 namespace localization_interface
@@ -48,6 +49,15 @@ struct KinematicState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
+struct Acceleration
+{
+  using Message = geometry_msgs::msg::AccelWithCovarianceStamped;
+  static constexpr char name[] = "/localization/acceleration";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
 }  // namespace localization_interface
 
 #endif  // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/component_interface_specs/include/component_interface_specs/map.hpp

@@ -0,0 +1,36 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define COMPONENT_INTERFACE_SPECS__MAP_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <tier4_map_msgs/msg/map_projector_info.hpp>
+
+namespace map_interface
+{
+
+struct MapProjectorInfo
+{
+  using Message = tier4_map_msgs::msg::MapProjectorInfo;
+  static constexpr char name[] = "/map/map_projector_type";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace map_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/component_interface_specs/include/component_interface_specs/planning.hpp

@@ -75,6 +75,24 @@ struct Route
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
+struct NormalRoute
+{
+  using Message = autoware_planning_msgs::msg::LaneletRoute;
+  static constexpr char name[] = "/planning/mission_planning/normal_route";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct MrmRoute
+{
+  using Message = autoware_planning_msgs::msg::LaneletRoute;
+  static constexpr char name[] = "/planning/mission_planning/mrm_route";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
 struct Trajectory
 {
   using Message = autoware_auto_planning_msgs::msg::Trajectory;